CN117609337A - Organization method, device and equipment for cleaning automatic driving data and storage medium - Google Patents

Abstract

The invention provides an organization method for cleaning automatic driving data, which comprises the steps of obtaining an original data packet of a vehicle, and extracting original data information to obtain an acquisition information table; acquiring camera data of the vehicle, acquiring integrated navigation system data, and generating a data query sub-table according to the I integrated navigation system data; aligning the data time stamp according to the data query sub-table; searching and aligning Unix time stamps of the camera data according to the data query sub-table; decoding the camera data into a picture format, naming and storing the picture format according to a preset file naming rule to obtain first cleaning data, and aligning and storing the first cleaning data into a data query summary table; and summarizing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number. The organizing method can improve the multiplexing rate and the searching speed of the data.

Description

Organization method, device and equipment for cleaning automatic driving data and storage medium

Technical Field

The invention belongs to the technical field of automatic driving data cleaning, and particularly relates to an organization method, device and equipment for cleaning automatic driving data and a storage medium.

Background

The technology of automatic driving automobiles has been developed rapidly in the last decade, and has been developed in various aspects such as perception, navigation, map construction, planning control and the like. In the automatic driving industry, data collection and data cleaning are always the most important preconditions for all links. Only if the car actually collects data from the environment, other algorithms can land and be applied in real life. In the industry, acquisition vehicles are often equipped with various sensors such as onboard cameras, millimeter wave radars, lidars, and integrated navigation systems (global navigation satellite systems (GNSS) and Inertial Navigation Systems (INS)). The collected data can be further applied to other links including positioning, model training and the like through data cleaning.

However, according to the research of the applicant, the existing method for cleaning the data of automatic driving is not related to the organization method of the cleaning data, for example, the chinese patent of patent publication No. CN115563184a proposes a method, device, apparatus and medium for processing the data of automatic driving application, which mainly surrounds the flow and storage method of the data processing, but lacks the organization method of the cleaning data. The organization method of the cleaning data is closely related to the subsequent data utilization efficiency, and a reasonable organization method is lacked, so that the multiplexing rate and the searching speed of the data can be reduced.

Disclosure of Invention

The invention aims to solve the technical problems and provide a method, a device, equipment and a storage medium for organizing cleaning automatic driving data, which can improve the multiplexing rate and the searching speed of the data.

In order to solve the problems, the invention is realized according to the following technical scheme:

in a first aspect, the present invention provides an organization method for cleaning autopilot data, the organization method comprising:

acquiring an original data packet of a vehicle;

extracting original data information according to the original data packet to obtain an acquisition information table;

acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number;

acquiring integrated navigation system data, wherein the integrated navigation system data comprises a second data timestamp and a first Unix timestamp;

generating a data query sub-table according to the integrated navigation system data;

aligning the first data time stamp according to the data query sub-table;

searching and aligning a second Unix time stamp of the camera data according to the data query sub-table;

decoding the camera data into a picture format, naming and storing the picture according to a preset file naming rule to obtain first cleaning data;

aligning the first cleaning data according to the first Unix timestamp, and storing the first cleaning data into a data query summary table;

and summarizing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

Preferably, the information of the collected information table includes: acquisition date, acquisition personnel, weather conditions, acquisition scene, acquisition area, main road section, acquisition vehicle model, contained sensors and other information.

Preferably, the step of aligning the first data timestamp according to the data lookup sub-table comprises: and aligning the first data time stamp of the other cameras with the first data time stamp of the front camera.

Preferably, the organization method further comprises: acquiring radar data of the vehicle, wherein the radar data comprises a third data time stamp and a second frame number; and according to the data query sub-table, aligning the third data time stamp with the first data time stamp of the front-facing camera.

Preferably, the organization method further comprises: searching and aligning a third Unix time stamp of the radar data according to the data query sub-table; and analyzing the radar data into a pcd format, naming and storing the radar data according to a preset file naming rule to obtain second cleaning data.

Preferably, the organization method further comprises: aligning the second cleaning data according to the first Unix time stamp, and storing the second cleaning data into a data query summary table; and the second cleaning data are summarized and stored according to the acquisition sequence number.

Preferably, the file naming convention is made up of collection vehicles, road segment names, sensor types, data time stamps, and Unix time stamps.

In a second aspect, the present invention provides an organizing device for cleansing automatic driving data, the organizing device for cleansing automatic driving data being configured to perform the organizing method for cleansing automatic driving data, the organizing device for cleansing automatic driving data comprising:

the system comprises an original data packet acquisition module, a data processing module and a data processing module, wherein the original data acquisition module is used for acquiring an original data packet of a vehicle:

the acquisition information table acquisition module is used for extracting original data information according to the original data packet to obtain an acquisition information table;

the sensor data acquisition module is used for acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number;

the integrated navigation system data acquisition module is used for acquiring integrated navigation system data, and the integrated navigation system data comprises a second data timestamp and a first Unix timestamp;

the data query sub-table generation module is used for generating a data query sub-table according to the integrated navigation system data;

the data time stamp alignment module is used for aligning the first data time stamp according to the data query sub-table;

the Unix time stamp alignment module is used for searching and aligning a second Unix time stamp of the camera data according to the data query sub-table;

the data decoding module is used for decoding the camera data into a picture format, naming the picture format according to a preset file naming rule and storing the picture format to obtain first cleaning data;

the data query summary table generation module is used for aligning the first cleaning data according to the first Unix time stamp and storing the first cleaning data into a data query summary table;

the information induction storage module is used for inducing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

In a third aspect, the present invention provides an electronic device, including:

at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform an organization method of cleaning autopilot data as described in any one of the first aspects above.

In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program for causing a processor to execute an organization method of cleaning autopilot data according to any one of the first aspects above.

Compared with the prior art, the invention has the beneficial effects that: the invention provides an organization method for cleaning automatic driving data, which comprises the steps of obtaining an original data packet of a vehicle; extracting original data information according to the original data packet to obtain an acquisition information table; acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number; acquiring integrated navigation system data, wherein the integrated navigation system data comprises a second data timestamp and a first Unix timestamp; generating a data query sub-table according to the integrated navigation system data; aligning the first data time stamp according to the data query sub-table; searching and aligning a second Unix time stamp of the camera data according to the data query sub-table; decoding the camera data into a picture format, naming and storing the picture according to a preset file naming rule to obtain first cleaning data; aligning and storing the first cleaning data into a data query summary table according to the first Unix timestamp; and summarizing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

According to the organization method provided by the invention, the multiplexing rate and the searching speed of the data can be improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

The invention is described in further detail below with reference to the attached drawing figures, wherein:

FIG. 1 is a block diagram of an organizational method for cleaning autopilot data according to one embodiment of the present invention;

FIG. 2 is a flow chart of an embodiment of a method for organizing purging autopilot data in accordance with an embodiment of the present invention;

FIG. 3 is a block diagram of an organization apparatus for cleaning autopilot data in accordance with an embodiment of the present invention;

FIG. 4 is a schematic diagram of an electronic device according to an embodiment of the invention;

fig. 5 is a specific organization chart of an organization method for cleaning automatic driving data according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.

After the automatic driving data are collected, other links including positioning, model training and the like can be further applied only by data cleaning. However, according to the research of the applicant, the existing automatic driving data cleaning method does not relate to the organization mode of cleaning data, but the organization method of cleaning data is closely related to the subsequent efficiency of data utilization, and a reasonable organization method is lacking, so that the multiplexing rate and the searching speed of the data can be reduced.

Therefore, the organization method for cleaning the automatic driving data can improve the multiplexing rate and the searching speed of the data.

Fig. 1 is a block diagram of an organization method for cleaning autopilot data according to the present invention, which may be performed by an organization apparatus for cleaning autopilot data, which may be implemented in hardware and/or software, and which may be configured in an electronic device. As shown in fig. 1, the organization method includes:

step 101, acquiring an original data packet of a vehicle.

It should be noted that the collected data typically includes a data time stamp and a Unix time of the integrated navigation system data record. The collection vehicle typically includes a plurality of cameras to cover the four directions of the body, and may also include lidars, either in a single or multiple, typically 360-degree horizontal 3D radar, such as the auster OS1-128, in a single, typically 120-degree horizontal radar, such as the HESAI AT128, for example, and 360-degree scanning is accomplished by employing multiple radar stitches.

It should be noted that, the data timestamp refers to a local time of collecting a central control unit in a vehicle, which is also referred to as a data plane time, and may deviate from a world current time.

The Unix time, or POSIX time, is a time representation used by the Unix or Unix-like system. Unix timestamp is the total number of seconds that pass from Greenwich mean time 1970, 01, 00 minutes, 00 seconds to now, and is the globally unique time irrespective of leap seconds.

In the invention, the acquisition specification for acquiring the original data packet is stored in the form of topics for the rosbag packet in the method. However, in an actual application scenario, the actual collection specification may be used, for example, other collection specifications are all within the scope of the present invention.

In the invention, when the original data packet is collected, the system can record the collected attribute information for generating the collected information table, wherein the attribute information is in a half-character form.

It should be noted that rosbag is also a node of ROS, which is an open source meta-operating system suitable for robots. It provides services that the operating system should have, including hardware abstraction, underlying device control, implementation of common functions, inter-process messaging, and packet management. It also provides the tools and library functions required to obtain, compile, write, and run code across computers. When recording, rosbag is a subscription node, which can subscribe topic messages and write subscribed data into disk files; when replaying, the rosbag is a release node, can read disk files and release topic messages in the files. The ROS data collection system is a tool set for recording and playing back ROS subjects, multiplexing of data is achieved, debugging and testing are convenient, rosbag is used for collecting topic data for recording movement of a physical robot, and the ROS data collection system is used for collecting and recording the original data package.

And 102, extracting original data information according to the original data packet to obtain an acquisition information table.

Specifically, the information of the acquisition information table comprises acquisition date, an acquisition member, weather conditions, acquisition scenes, acquisition areas, main road sections, acquisition vehicle models, contained sensors and other information.

In the invention, the acquisition date is the year, month and day of acquisition and the initial UTC time; the collector is the name of the collector for collecting data, which is expressed by pinyin; the weather conditions are that the weather conditions at the time are collected, such as clear weather, snowing and the like; the scene acquisition is to acquire the scene of the vehicle, such as urban roads, highways and the like; the collecting area is a city area where the collecting vehicle is located, such as a certain area; the main road section is the main road section of the urban area where the collected vehicles are located, such as a certain large road; the model of the collection vehicle is the model of the collection vehicle defined by the invention, and is used for distinguishing a plurality of collection vehicles; the contained sensors are used for collecting the types and the numbers of the sensors contained in the vehicle; and acquiring the remark information of the special situation at the time by the other information, and filling by the acquirer, wherein if no special situation exists, the remark information can be empty.

Step 103, acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number.

Specifically, the method further comprises the step of acquiring radar data of the vehicle, wherein the radar data comprises a third data time stamp and a second frame number.

Specifically, the method further comprises the step of acquiring data of other sensors of the vehicle, such as a wheel speed sensor and the like.

Step 104, acquiring integrated navigation system data, wherein the integrated navigation system data comprises a second data timestamp and a first timestamp.

It should be noted that the integrated navigation system is composed of a Global Navigation Satellite System (GNSS) and an Inertial Navigation System (INS). INS is an autonomous navigation system that does not depend on external information nor radiate energy to the outside. The working environment not only comprises the air and the ground, but also can be underwater. The INS is the angular velocity and specific force information of the carrier relative to the inertial space measured by the gyroscope and the accelerometer according to the Newton mechanics principle, and integrates to obtain navigation parameters such as three-dimensional velocity, position and attitude information of the carrier. In short, INS is a short-time accurate navigation system, and IMU is an important sensor in INS.

Note that, the IMU (Inertial measurement unit) sensor is an inertial measurement unit, and is used to measure acceleration and angular velocity of the vehicle itself, and sometimes also measure orientation by a magnetometer, and when a magnetometer is included, the IMU is generally called IMMU. The working principle of the IMU is that the acceleration in the X, Y, Z three moving directions is measured through the accelerometer contained in the IMU, the speed is obtained through double integration, the position is obtained through double integration, the angular speeds in the Roll, pitch, yaw three rotating directions are measured through the gyroscope contained in the IMU, the gesture is obtained through double integration, the current orientation of the IMU containing the magnetometer can be determined through measuring the included angle between the accelerometer and the earth magnetic field, and the problem of measurement missing of the accelerometer on the horizontal plane is solved.

And 105, generating a data query sub-table according to the integrated navigation system data.

Specifically, in the present invention, other collected data, such as data of a wheel speed sensor, etc., also generates a corresponding lookup table in the above-described manner.

And 106, inquiring a sub-table according to the data, and aligning the first data time stamp.

Specifically, the step of aligning the first data timestamp according to the data lookup sub-table includes: and aligning the first data time stamp of the other cameras with the first data time stamp of the front camera.

Specifically, the method further comprises the step of aligning the third data time stamp with the first data time stamp of the front-facing camera according to the data query sub-table.

In the case of a collection vehicle consisting of various sensors, the information from the front camera is often of greatest importance, since it can be used for detecting lane lines and identifying obstacles. Therefore, in the invention, the first data time stamp of the front camera is taken as a reference, other cameras, radar and other data are aligned according to the time of the data plane, and the corresponding frame numbers are extracted.

Step 107, searching and aligning a second Unix time stamp of the camera data according to the data query sub-table.

Specifically, the method further comprises the step of searching and aligning a third Unix time stamp of the radar data according to the data query sub-table;

and step 108, decoding the camera data into a picture format, naming and storing the picture format according to a preset file naming rule to obtain first cleaning data.

Specifically, the method further comprises the steps of analyzing the radar data into a pcd format, naming the radar data according to a preset file naming rule, and storing the radar data to obtain second cleaning data.

Specifically, the file naming convention is composed of an acquisition vehicle, a road segment name, a sensor type, a data timestamp and a Unix timestamp. For example: in certain acquired data, the model of the acquired vehicle is C1-1, the road section is named as Zhongshan mountain road, the camera sensor is F_camera, the data timestamp is 2023-11-17:16:50:17, the Unix timestamp is 1700211017, and the file name generated according to the file naming rule is: "C1-1+Zhongshan Dadao+F_camera+2023-11-1716:50:17+1700211017".

The radar is a laser radar, and the data collected by the radar is point cloud data. The pcd format is the point cloud data file format.

In the invention, a third-party video parsing library, such as av or Opencv, is used for parsing the camera data into a. Png lossless image file, and the file name adopts the file naming rule plus. Png as suffix naming.

In the invention, a third party point cloud analysis library, such as pcd, is used for analyzing the radar data into the pcd single-frame point cloud data, and the file name adopts the file naming rule plus the pcd as the suffix name.

Step 109, aligning the first cleaning data according to the first Unix timestamp, and storing the first cleaning data into a data query summary table.

Step 110, the original data information, the first cleaning data, the data query summary table and the collection information table are summarized and stored according to the collection sequence number.

Specifically, the method further comprises aligning the second cleaning data according to the first Unix timestamp, and storing the second cleaning data into a data query summary table; and the second cleaning data are summarized and stored according to the acquisition sequence number.

In the invention, the data query summary table can be used for searching subsequent files, corresponding time stamps, frame extraction operation according to different frame rates, generation of corresponding json files to extract specific moment sensing and positioning information and the like.

In the invention, the collection sequence numbers are stored in a summary way, such as: if the original collected data is 2023-10-30-ubanhead-car 01-10-09-42_0.Bag, the processed data is stored according to the same information and serial number so as to achieve the naming consistency of the original collected data and the cleaning data.

FIG. 2 is a flowchart of an embodiment of a method for cleaning autopilot data, as shown in FIG. 2, firstly, acquiring original data of a vehicle to generate an original data packet, extracting the original data and generating an acquisition information table, acquiring camera data and radar data of the acquired vehicle, including a data time stamp and a frame number, acquiring integrated navigation system data and generating a data query sub-table, aligning different camera data according to the data time stamp of a front camera, aligning Unix time of all cameras, decoding the camera data into a png picture format, and naming and storing according to a file naming rule; and (5) aligning Unix time stamps of all radars according to the data time stamp pair Ji Leida data of the front camera, analyzing the radar data into a pcd format, and naming and storing according to a file naming rule. And finally, aligning all the data according to the Unix time stamp, generating a data searching summary table, and summarizing and storing the data, the data searching summary table and the acquisition information table according to the acquisition sequence number.

In this embodiment, (1) all data are aligned with the Unix timestamp, so that the time is unique, and it is convenient to access it to data under different systems. (2) And the video data of the camera is analyzed into a single-frame, png and lossless image, the radar data is analyzed into single-frame pcd point cloud data, the data integrity is maintained, and the single-frame data is convenient to check and model training and flexible to use. (3) The file naming rule of 'collecting vehicle + road section name + sensor type + data time stamp + Unix time stamp' is used as file name to save single frame data, so that the uniqueness of data naming is ensured, the data attribute is displayed in a special way, and the data attribute is embedded into a lookup table, thereby facilitating program indexing. The problem of the use data can be quickly traced and verified. (4) The data time stamp of other cameras and point cloud data is aligned in the data lookup table by taking the front camera as a reference, and all corresponding data in a complete period can be obtained through one time stamp, so that the algorithm is convenient to use subsequently. (5) The effective camera number and the effective radar number are introduced, so that when the frame loss occurs to the sensor, the auxiliary information is provided for the fault detection and performance verification of the sensor.

Fig. 3 is a block diagram of an organization apparatus for cleaning autopilot data according to the present invention. As shown in fig. 3, the module includes:

301. the system comprises an original data packet acquisition module, a data processing module and a data processing module, wherein the original data acquisition module is used for acquiring an original data packet of a vehicle.

302. And the acquisition information table acquisition module is used for extracting the original data information according to the original data packet to obtain an acquisition information table.

303. The camera data acquisition module is used for acquiring camera data of the vehicle, the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number.

304. The integrated navigation system data acquisition module is used for acquiring integrated navigation system data, and the integrated navigation system data comprises a second data timestamp and a first Unix timestamp.

305. And the data query sub-table generation module is used for generating a data query sub-table according to the integrated navigation system data.

306. And the data time stamp alignment module is used for aligning the first data time stamp according to the data query sub-table.

307. And the Unix time stamp alignment module is used for searching and aligning a second Unix time stamp of the camera data according to the data query sub-table.

308. And the data decoding module is used for decoding the camera data into a picture format, naming the picture format according to a preset file naming rule and storing the picture format to obtain first cleaning data.

309. And the data query summary list generation module is used for aligning the first cleaning data according to the first Unix time stamp and storing the first cleaning data into the data query summary list.

310. The information induction storage module is used for inducing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as addressing an organization method for cleaning the autopilot data.

In some embodiments, an organization method of cleansing autopilot data may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more of the steps of an organization method for cleaning autopilot data described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform an organization method of cleaning the autopilot data in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

The embodiments of the present invention also provide a computer program product comprising a computer program which, when executed by a processor, implements an organization method for cleaning autopilot data as provided by the embodiments of the present invention.

Computer program product in the implementation, the computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A method of organizing washing autopilot data, the washing method comprising:

acquiring an original data packet of a vehicle;

extracting original data information according to the original data packet to obtain an acquisition information table;

acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number;

acquiring integrated navigation system data, wherein the integrated navigation system data comprises a second data timestamp and a first Unix timestamp;

generating a data query sub-table according to the integrated navigation system data;

aligning the first data time stamp according to the data query sub-table;

searching and aligning a second Unix time stamp of the camera data according to the data query sub-table;

decoding the camera data into a picture format, naming and storing the picture according to a preset file naming rule to obtain first cleaning data;

aligning the first cleaning data according to the first Unix timestamp, and storing the first cleaning data into a data query summary table;

and summarizing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

2. An organization method for cleaning autopilot data according to claim 1, characterized in that the information of the collection information table comprises:

acquisition date, acquisition personnel, weather conditions, acquisition scene, acquisition area, main road section, acquisition vehicle model, contained sensors and other information.

3. An organization method for cleaning up autopilot data according to claim 1, characterized in that the step of aligning the first data time stamp according to the data lookup table comprises:

and aligning the first data time stamp of the other cameras with the first data time stamp of the front camera.

4. A method of organizing the cleaning of autopilot data in accordance with claim 3 comprising:

acquiring radar data of the vehicle, wherein the radar data comprises a third data time stamp and a second frame number;

and according to the data query sub-table, aligning the third data time stamp with the first data time stamp of the front-facing camera.

5. A method of organizing purged autopilot data in accordance with claim 4 comprising:

searching and aligning a third Unix time stamp of the radar data according to the data query sub-table;

and analyzing the radar data into a pcd format, naming and storing the radar data according to a preset file naming rule to obtain second cleaning data.

6. A method of organizing purged autopilot data in accordance with claim 5 comprising:

aligning the second cleaning data according to the first Unix time stamp, and storing the second cleaning data into a data query summary table;

and the second cleaning data are summarized and stored according to the acquisition sequence number.

7. A method of organizing purged autopilot data in accordance with claim 5 wherein:

the file naming convention is composed of collection vehicles, road segment names, sensor types, data time stamps and Unix time stamps.

8. An organizing device for cleansing autopilot data, characterized in that the organizing device for cleansing autopilot data is configured to perform the organizing method for cleansing autopilot data, the organizing device for cleansing autopilot data comprising:

the system comprises an original data packet acquisition module, a data processing module and a data processing module, wherein the original data acquisition module is used for acquiring an original data packet of a vehicle:

the acquisition information table acquisition module is used for extracting original data information according to the original data packet to obtain an acquisition information table;

the sensor data acquisition module is used for acquiring camera data of the vehicle, wherein the camera comprises a front camera and other cameras, and the camera data comprises a first data time stamp and a first frame number;

the integrated navigation system data acquisition module is used for acquiring integrated navigation system data, and the integrated navigation system data comprises a second data timestamp and a first Unix timestamp;

the data query sub-table generation module is used for generating a data query sub-table according to the integrated navigation system data;

the data time stamp alignment module is used for aligning the first data time stamp according to the data query sub-table;

the Unix time stamp alignment module is used for searching and aligning a second Unix time stamp of the camera data according to the data query sub-table;

the data decoding module is used for decoding the camera data into a picture format, naming the picture format according to a preset file naming rule and storing the picture format to obtain first cleaning data;

the data query summary table generation module is used for aligning the first cleaning data according to the first Unix time stamp and storing the first cleaning data into a data query summary table;

the information induction storage module is used for inducing and storing the original data information, the first cleaning data, the data query summary list and the acquisition information list according to the acquisition sequence number.

9. An electronic device, the electronic device comprising:

at least one processor; and a memory communicatively coupled to the at least one processor;

wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform an organization method of cleaning autopilot data according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program,

the computer program for causing a processor to execute an organization method for cleaning autopilot data according to any one of claims 1 to 7.